{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T00:16:32Z","timestamp":1779236192128,"version":"3.51.4"},"reference-count":41,"publisher":"Springer Science and Business Media LLC","issue":"2-3","license":[{"start":{"date-parts":[[2013,6,19]],"date-time":"2013-06-19T00:00:00Z","timestamp":1371600000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2013,10]]},"DOI":"10.1007\/s10514-013-9341-4","type":"journal-article","created":{"date-parts":[[2013,6,18]],"date-time":"2013-06-18T08:00:41Z","timestamp":1371542441000},"page":"161-176","source":"Crossref","is-referenced-by-count":404,"title":["Centroidal dynamics of a humanoid robot"],"prefix":"10.1007","volume":"35","author":[{"given":"David E.","family":"Orin","sequence":"first","affiliation":[]},{"given":"Ambarish","family":"Goswami","sequence":"additional","affiliation":[]},{"given":"Sung-Hee","family":"Lee","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2013,6,19]]},"reference":[{"key":"9341_CR1","unstructured":"Abdallah, M., Goswami, A. (2005). A biomechanically motivated two-phase strategy for biped robot upright balance control. In Proceedings of IEEE international conference on robotics and automation (ICRA), Barcelona, pp. 3707\u20133713."},{"key":"9341_CR2","unstructured":"Bin Hammam, G., Orin, D. E., & Dariush, B. (2010). Whole-body humanoid control from upper-body task specifications. In Proceedings of IEEE international conference on robotics and automation, Anchorage, pp. 398\u20133405."},{"key":"9341_CR3","doi-asserted-by":"crossref","unstructured":"De Luca, A., Albu-Schaffer, A., Haddadin, S., & Hirzinger, G. (2006). Collision detection and safe reaction with the DLR-III lightweight manipulator arm. In Proceedings of IEEE\/RSJ international conference on intelligent robots and systems (IROS), Beijing, pp. 1623\u20131630.","DOI":"10.1109\/IROS.2006.282053"},{"key":"9341_CR4","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1088\/0143-0807\/14\/5\/002","volume":"14","author":"H Ess\u00e9n","year":"1993","unstructured":"Ess\u00e9n, H. (1993). Average angular velocity. European Journal of Physics, 14, 201\u2013205.","journal-title":"European Journal of Physics"},{"issue":"3","key":"9341_CR5","doi-asserted-by":"crossref","first-page":"417","DOI":"10.1145\/882262.882286","volume":"22","author":"AC Fang","year":"2003","unstructured":"Fang, A. C., & Pollard, N. (2003). Efficient synthesis of physically valid human motion. ACM Transactions on Graphics ACM SIGGRAPH Proceedings, 22(3), 417\u2013426.","journal-title":"ACM Transactions on Graphics ACM SIGGRAPH Proceedings"},{"key":"9341_CR6","doi-asserted-by":"crossref","DOI":"10.1007\/978-0-387-74315-8","volume-title":"Rigid body dynamics algorithms","author":"R Featherstone","year":"2008","unstructured":"Featherstone, R. (2008). Rigid body dynamics algorithms. New York: Springer."},{"key":"9341_CR7","doi-asserted-by":"crossref","unstructured":"Featherstone, R., & Orin, D. E. (2000). Robot dynamics: equations and algorithms. In Proceedings of IEEE international conference on robotics and automation, San Francisco, pp. 826\u2013834.","DOI":"10.1109\/ROBOT.2000.844153"},{"key":"9341_CR8","volume-title":"Springer handbook of robotics","author":"R Featherstone","year":"2008","unstructured":"Featherstone, R., & Orin, D. E. (2008). Dynamics, chapter 2. In B. Siciliano & O. Khatib (Eds.), Springer handbook of robotics. New York: Springer."},{"key":"9341_CR9","doi-asserted-by":"crossref","unstructured":"Goswami, A., & Kallem, V. (2004). Rate of change of angular momentum and balance maintenance of biped robots. In Proceedings of IEEE international conference on robotics and automation (ICRA), New Orleans, pp. 3785\u20133790.","DOI":"10.1109\/ROBOT.2004.1308858"},{"key":"9341_CR10","doi-asserted-by":"crossref","first-page":"467","DOI":"10.1242\/jeb.008573","volume":"211","author":"H Herr","year":"2008","unstructured":"Herr, H., & Popovic, M. B. (2008). Angular momentum in human walking. The Journal of Experimental Biology, 211, 467\u2013481.","journal-title":"The Journal of Experimental Biology"},{"key":"9341_CR11","doi-asserted-by":"crossref","unstructured":"Hofmann, A., Popovic, M., & Herr, H. (2009). Exploiting angular momentum to enhance bipedal center-of-mass control. In Proceedings of IEEE international conference on robotics and automation (ICRA), Kobe, pp. 4423\u20134429.","DOI":"10.1109\/ROBOT.2009.5152573"},{"key":"9341_CR12","doi-asserted-by":"crossref","unstructured":"Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., & Hirukawa, H. (2003). Resolved momentum control: Humanoid motion planning based on the linear and angular momentum. In Proceedings of IEEE\/RSJ international conference on intelligent robots and systems (IROS), Las Vegas, pp. 1644\u20131650.","DOI":"10.1109\/IROS.2003.1248880"},{"issue":"1","key":"9341_CR13","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/JRA.1987.1087068","volume":"3","author":"O Khatib","year":"1987","unstructured":"Khatib, O. (1987). A unified approach to motion and force control of robot manipulators: The operational space formulation. IEEE Transactions on Robotics and Automation, 3(1), 43\u201353.","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"9341_CR14","doi-asserted-by":"crossref","unstructured":"Komura, T., Leung, H., Kudoh, S., & Kuffner, J. (2005). A feedback controller for biped humanoids that can counteract large perturbations during gait. In Proceedings of IEEE international conference on robotics and automation (ICRA), Barcelona, pp. 2001\u20132007.","DOI":"10.1109\/ROBOT.2005.1570405"},{"key":"9341_CR15","doi-asserted-by":"crossref","unstructured":"Lee, S.-H., & Goswami, A. (2007). Reaction mass pendulum (RMP): An explicit model for centroidal angular momentum of humanoid robots. In Proceedimgs of IEEE international conference on robotics and automation, Rome, pp. 4667\u20134672.","DOI":"10.1109\/ROBOT.2007.364198"},{"key":"9341_CR16","doi-asserted-by":"crossref","unstructured":"Lee, S.-H., & Goswami, A. (November 2012). A momentum-based balance controller for humanoid robots on non-level and non-stationary ground. Autonomous Robots, 33(4), 399\u2013414.","DOI":"10.1007\/s10514-012-9294-z"},{"issue":"3","key":"9341_CR17","doi-asserted-by":"crossref","first-page":"80:1","DOI":"10.1145\/1531326.1531386","volume":"28","author":"A Macchietto","year":"2009","unstructured":"Macchietto, A., Zordan, V., & Shelton, C. R. (2009). Momentum control for balance. ACM Transactions on Graphics, 28(3), 80:1\u201380:8.","journal-title":"ACM Transactions on Graphics"},{"issue":"4","key":"9341_CR18","doi-asserted-by":"crossref","first-page":"606","DOI":"10.1109\/70.406935","volume":"11","author":"S McMillan","year":"1995","unstructured":"McMillan, S., & Orin, D. E. (1995). Efficient computation of articulated-body inertias using successive axial screws. IEEE Transactions on Robotics and Automation, 11(4), 606\u2013611.","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"9341_CR19","unstructured":"Mistry, M., Righetti, L. (2012). Operational space control of constrained and underactuated systems. In H. Durrant-Whyte (Ed.), Robotics: Science and systems VII (pp. 225\u2013232). Cambridge: The MIT Press."},{"key":"9341_CR20","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1016\/S0957-4158(03)00028-X","volume":"14","author":"K Mitobe","year":"2004","unstructured":"Mitobe, K., Capi, G., & Nasu, Y. (2004). A new control method for walking robots based on angular momentum. Mechatronics, 14, 163\u2013174.","journal-title":"Mechatronics"},{"key":"9341_CR21","doi-asserted-by":"crossref","unstructured":"Morita, Y., & Ohnishi, K. (2003). Attitude control of hopping robot using angular momentum. In Proceedings of IEEE international conference on industrial technology, Vol. 1, pp. 173\u2013178.","DOI":"10.1109\/ICIT.2003.1290263"},{"issue":"1","key":"9341_CR22","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/70.127234","volume":"8","author":"D Nenchev","year":"1992","unstructured":"Nenchev, D., Umetani, Y., & Yoshida, K. (1992). Analysis of a redundant free-flying spacecraft\/manipulator system. IEEE Transactions on Robotics and Automation, 8(1), 1\u20136.","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"9341_CR23","doi-asserted-by":"crossref","unstructured":"Nakamura, Y., & Yamane, K. (2000). Dynamics computation of structure-varying kinematic chains and its application to human figures. IEEE Transactions on Robotics and Automation, 16(2), 124\u2013134.","DOI":"10.1109\/70.843167"},{"key":"9341_CR24","doi-asserted-by":"crossref","unstructured":"Naksuk, N., Mei, Y., & Lee, C. S. G. (2004). Humanoid trajectory generation: an iterative approach based on movement and angular momentum criteria. In Proceedings of the IEEE-RAS international conference on humanoid robots, Santa Monica, pp. 576\u2013591.","DOI":"10.1109\/ICHR.2004.1442672"},{"key":"9341_CR25","doi-asserted-by":"crossref","unstructured":"Naksuk, N., Lee, C. S. G., & Rietdyk, S. (2005). Whole-body human to humanoid motion transfer. In Proceedings of IEEE\/RSJ international conference on intelligent robots and systems (IROS), Edmonton, pp. 104\u2013109.","DOI":"10.1109\/ICHR.2005.1573553"},{"key":"9341_CR26","unstructured":"Naudet, J. (2005). Forward dynamics of multibody systems: A recursive Hamiltonian approach. PhD Thesis, Vrije Universiteit, Brussels."},{"key":"9341_CR27","doi-asserted-by":"crossref","unstructured":"Orin, D., & Goswami, A. (2008). Centroidal momentum matrix of a humanoid robot: Structure and properties. In Proceedings of IEEE\/RSJ international conference on intelligent robots and systems (IROS), Nice, pp. 653\u2013659.","DOI":"10.1109\/IROS.2008.4650772"},{"key":"9341_CR28","doi-asserted-by":"crossref","unstructured":"Nishiwaki, K., Kagami, S., Kuniyoshi, Y., Inaba, M., & Inoue, H. (2002). Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMP. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS), pp. 2684\u20132689.","DOI":"10.1109\/IRDS.2002.1041675"},{"key":"9341_CR29","unstructured":"Papadopoulos, E. (1990). On the dynamics and control of space manipulators. PhD Thesis, Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge."},{"key":"9341_CR30","doi-asserted-by":"crossref","unstructured":"Popovic, M.B., Hofmann, A., & Herr, H. (2004). Zero spin angular momentum control: definition and applicability. In Proceedings of the IEEE-RAS international conference on humanoid robots, Santa Monica, pp.\u00a0478\u2013493.","DOI":"10.1109\/ICHR.2004.1442139"},{"issue":"12","key":"9341_CR31","doi-asserted-by":"crossref","first-page":"1013","DOI":"10.1177\/0278364905058363","volume":"24","author":"MB Popovic","year":"2005","unstructured":"Popovic, M. B., Goswami, A., & Herr, H. (2005). Ground reference points in legged locomotion: Definitions, biological trajectories and control implications. International Journal of Robotics Research, 24(12), 1013\u20131032.","journal-title":"International Journal of Robotics Research"},{"key":"9341_CR32","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-86464-3","volume-title":"Dynamics of multibody systems","author":"RE Roberson","year":"1988","unstructured":"Roberson, R. E., & Schwertassek, R. (1988). Dynamics of multibody systems. Berlin: Springer."},{"issue":"4","key":"9341_CR33","doi-asserted-by":"crossref","first-page":"371","DOI":"10.1177\/027836499101000406","volume":"10","author":"G Rodriguez","year":"1991","unstructured":"Rodriguez, G., Jain, A., & Kreutz-Delgado, K. (1991). A spatial operator algebra for manipulator modelling and control. International Journal of Robotics Research, 10(4), 371\u2013381.","journal-title":"International Journal of Robotics Research"},{"key":"9341_CR34","doi-asserted-by":"crossref","unstructured":"Sano, A., & Furusho, J. (1990). Realization of natural dynamic walking using the angular momentum information. In Proceedings of IEEE international conference on robotics and automation, Cincinnati, pp. 1476\u20131481.","DOI":"10.1109\/ROBOT.1990.126214"},{"key":"9341_CR35","unstructured":"Sciavicco, L., & Siciliano, B. (2005). Modeling and control of robot manipulators. Advanced textbooks in control and signal processing series. London: Springer London Limited."},{"key":"9341_CR36","doi-asserted-by":"crossref","unstructured":"Ugurlu, B., & Kawamura, A. (2010). Eulerian ZMP resolution based bipedal walking: Discussion on the intrinsic angular momentum rate change about center of mass. In Proceedings of IEEE international conference on robotics and automation, Alaska, pp. 4218\u20134223.","DOI":"10.1109\/ROBOT.2010.5509427"},{"key":"9341_CR37","doi-asserted-by":"crossref","first-page":"205","DOI":"10.1115\/1.3139699","volume":"104","author":"MW Walker","year":"1982","unstructured":"Walker, M. W., & Orin, D. (1982). Efficient dynamic computer simulation of robotic mechanisms in ASME. Journal of Dynamic Systems Measurement and Control, 104, 205\u2013211.","journal-title":"Journal of Dynamic Systems Measurement and Control"},{"key":"9341_CR38","doi-asserted-by":"crossref","unstructured":"Zordan, V. (2010). Angular momentum control in coordinated behaviors. Third annual international conference on motion in games. Zeist.","DOI":"10.1007\/978-3-642-16958-8_12"},{"key":"9341_CR39","volume-title":"Holonomy and nonholonomy in the dynamics of articulated motion. Fast motions in biomechanics and robotics","author":"P-B Wieber","year":"2005","unstructured":"Wieber, P.-B. (2005). Holonomy and nonholonomy in the dynamics of articulated motion. Fast motions in biomechanics and robotics. Heidelberg: Springer."},{"key":"9341_CR40","doi-asserted-by":"crossref","unstructured":"Wieber, P.-B. (2008). Viability and predictive control for safe locomotion. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS), Nice, pp. 1103\u20131108.","DOI":"10.1109\/IROS.2008.4651022"},{"key":"9341_CR41","doi-asserted-by":"crossref","unstructured":"Wensing, P. M., & Orin, D. E. (2013). Generation of dynamic humanoid behaviors through task-space control with conic optimization. In Proceedings of IEEE international conference on robotics and automation (ICRA), Karlsruhe.","DOI":"10.1109\/ICRA.2013.6631008"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-013-9341-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-013-9341-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-013-9341-4","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,7,15]],"date-time":"2019-07-15T19:21:23Z","timestamp":1563218483000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-013-9341-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,6,19]]},"references-count":41,"journal-issue":{"issue":"2-3","published-print":{"date-parts":[[2013,10]]}},"alternative-id":["9341"],"URL":"https:\/\/doi.org\/10.1007\/s10514-013-9341-4","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,6,19]]}}}